nodes:
  - id: so101
    build: pip install -e ../../node-hub/dora-rustypot
    path: dora-rustypot
    inputs:
      tick: dora/timer/millis/10
      pose: leader_interface/pose
    outputs:
      - pose
    env:
      PORT: /dev/ttyACM0
      IDS: 1 2 3 4 5 6

  - id: leader_interface
    build: pip install -e ../../node-hub/dora-rustypot
    path: dora-rustypot
    inputs:
      tick: dora/timer/millis/10
    outputs:
      - pose  
    env:
      PORT: /dev/ttyACM1
      IDS: 1 2 3 4 5 6

  # comment below path if you don't want to visualize the arms in rerun 
  - id: plot
    build: pip install -e ../../node-hub/dora-rerun
    path: dora-rerun
    inputs:
      jointstate_so101_new_calib: so101/pose
    env:
      so101_new_calib_urdf: "so_arm101_description"
      so101_new_calib_transform: "0. 0. 0. 1. 0. 0. 0."